基于语义关联模型的虚拟装配工艺规划支撑技术研究
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摘要
产品装配工艺规划是产品开发的一个重要环节，而生产模式的变革以及产品功能和结构的日趋复杂，为快速而正确地产品装配工艺规划带来了困难。基于虚拟环境下交互式装配操作仿真的虚拟装配工艺规划为此提供了可行的解决方案。现有的虚拟装配工艺规划存在一定不足，如产品装配模型信息不完整、交互式装配操作效率低且容易出现误操作、装配工艺规划内容不完整等，极大地限制了虚拟装配工艺规划技术的推广与应用。
针对上述问题，本文将装配语义引入工艺规划领域，提出了基于语义关联模型的虚拟装配工艺规划解决方案。该方案充分利用了装配语义中所包含的工程信息，能够支持产品与装配工具信息表达、虚拟环境下高效与正确地交互式装配操作仿真以及装配工艺信息的提取，使得操作者可以通过三维可视化的虚拟环境进行产品装配工艺规划。论文的主要工作和结论概括如下：
1.提出了基于语义关联模型的虚拟装配工艺规划解决方案，并对该方案的具体实施流程与关键技术进行阐述。该方案以装配语义模型为核心，建立了产品装配信息模型、装配工具模型，并在装配语义自动推理的基础上进行虚拟环境下的交互式装配操作，最后根据交互式装配操作记录提取装配工艺信息，使得用户可以通过虚拟环境下的实时交互式装配操作仿真进行装配工艺规划。
2.研究了装配语义的定义、表达与自动推理，建立了基于语义的关联模型。研究了装配语义模型的定义、信息表达与自动推理方法，并提出了语义在CAD环境下的交互式定义方法；以装配语义为核心，提出了产品多层次装配信息模型与适应于各类装配工具的统一工具信息模型表达，并对其下属子模型进行了详细阐述。
3.提出装配操作过程中的实时碰撞检测加速算法，并建立了基于语义自动推理的徒手与使用装配工具的交互式装配操作逻辑。研究了装配操作过程中的碰撞检测问题，提出基于包围盒层次树的实时碰撞检测加速算法。提出了双手交互操作冲突处理原则，并基于装配语义的识别、确认、导航、解算等自动推理算法，建立了虚拟环境下徒手装配操作的抓取、移动、释放对象等操作逻辑；将装配工具的操作过程分为操作对象选择、定位、驱动等子过程，建立了基于语义自动推理的装配工具交互操作逻辑；
4.研究了基于语义与交互式装配操作的装配工艺规划方法。根据MTM方法，提出了基本装配动素与标准装配动作，以及虚拟装配操作与基本装配动素、基本装配动素与标准装配操作的映射关系，建立了装配动作提取方法；针对装配操作时间提取困难的问题，建立了基于交互装配操作与标准装配工艺映射的装配操作时间提取方法。
5.基于上述研究开发了虚拟装配工艺规划环境原型系统(VAPPE)，以某型汽车发动机部分零部件的装配工艺规划为应用案例，验证了本文研究的正确性与有效性。
Production assembly process planning is an important stage ofproduction development. With the transform of manufacturing mode andgrowing complexity of productions in function and structure，fast andcorrect assembly process planning becomes to be a more difficult task.Virtual assembly process planning based on interactive virtual assemblysimulation provides a better solution. However, current virtual assemblyprocess planning systems have some demerits, such as incompleteproduction model, inefficient and fallible interactive assembling,imcomplete planning results, etc., which have limited the application ofvirtual assembly process planning technologies.
In order to solve the problems above, assembly semantic isintroduced, and a virtual assembly process planning solution based onsemantic-associated models is brought forward. This solution can makefull use of engineering information contained in assembly semanticmodel, and can support product and assembly tool information expression,efficient and correct interactive virtual assembly simulation, andassembly process information extraction. It makes it possible to do product assembly process planning in3D virtual environment。Mainworks and conclusions of this thesis are listed as follows:
1. A solution for virtual assembly process planning based onsemantic-associated models is proposed, and the detailed implementationprocesses and key technologies are introduced. In this solution, takingassembly semantic model as centre, product assembly information modeland unified assembly tool model are built. It can support interactivevirtual assembly based on semantic reasoning method and assemblyprocess information extraction from virtual assembling operation. Thesolution makes it possible to do assembly process planning throughreal-time interactive assembling simulation in virtual environment.
2. Assembly semantic model is proposed, and semantic-associatedmodels are built. The definition, expression and reasoning methods forassembly semantic model are researched, and an interactive generationmethod for assembly semantic model in CAD environment is proposed.Based on assembly semantic, a multi-leveled product assemblyinformation model and a unified assembly tool model are built, and theirsub-models are detailedly discussed.
3. Real-time collision detection algorithm during interactiveassembling is improved, and interactive assembling methods with bothhands and assembly tools based on semantic reasoning methods areproposed. Real-time collision detection method based on bounding boxhierarchy trees is researched and improved. Dealing rules for interactiveassembly in virtual environment with both hands are built, and based on semantic reasoning methods including recognition, confirmation,navigation, and solving. Logics for grasping, moving, and releasingobjects with both hands are proposed. Interactive assembly process withassembly tools is divided into selection, orientation, driving, and logicsfor these operations in virtual environment are researched.
4. Assembly process planning methods based on assembly semanticand interactive virtual assembly are researched. Basic Assembly Motions,and Standard Assembly Operations are brought forward, and the mappingrelationships between them is built. An assembly operation extractionmethod based on this mapping reletionship is proposed. A method forassembly operation time extraction based on interactive assemblyoperation and standard assembly process is proposed.
5. A prototype named Virtual Assembly Process PlanningEnvironment (VAPPE) based on above researches is developed, andassembly process planning for typical parts of automobile motor is takenas an application to validate the correctness and validity of the researchesin this thesis.
针对上述问题，本文将装配语义引入工艺规划领域，提出了基于语义关联模型的虚拟装配工艺规划解决方案。该方案充分利用了装配语义中所包含的工程信息，能够支持产品与装配工具信息表达、虚拟环境下高效与正确地交互式装配操作仿真以及装配工艺信息的提取，使得操作者可以通过三维可视化的虚拟环境进行产品装配工艺规划。论文的主要工作和结论概括如下：
1.提出了基于语义关联模型的虚拟装配工艺规划解决方案，并对该方案的具体实施流程与关键技术进行阐述。该方案以装配语义模型为核心，建立了产品装配信息模型、装配工具模型，并在装配语义自动推理的基础上进行虚拟环境下的交互式装配操作，最后根据交互式装配操作记录提取装配工艺信息，使得用户可以通过虚拟环境下的实时交互式装配操作仿真进行装配工艺规划。
2.研究了装配语义的定义、表达与自动推理，建立了基于语义的关联模型。研究了装配语义模型的定义、信息表达与自动推理方法，并提出了语义在CAD环境下的交互式定义方法；以装配语义为核心，提出了产品多层次装配信息模型与适应于各类装配工具的统一工具信息模型表达，并对其下属子模型进行了详细阐述。
3.提出装配操作过程中的实时碰撞检测加速算法，并建立了基于语义自动推理的徒手与使用装配工具的交互式装配操作逻辑。研究了装配操作过程中的碰撞检测问题，提出基于包围盒层次树的实时碰撞检测加速算法。提出了双手交互操作冲突处理原则，并基于装配语义的识别、确认、导航、解算等自动推理算法，建立了虚拟环境下徒手装配操作的抓取、移动、释放对象等操作逻辑；将装配工具的操作过程分为操作对象选择、定位、驱动等子过程，建立了基于语义自动推理的装配工具交互操作逻辑；
4.研究了基于语义与交互式装配操作的装配工艺规划方法。根据MTM方法，提出了基本装配动素与标准装配动作，以及虚拟装配操作与基本装配动素、基本装配动素与标准装配操作的映射关系，建立了装配动作提取方法；针对装配操作时间提取困难的问题，建立了基于交互装配操作与标准装配工艺映射的装配操作时间提取方法。
5.基于上述研究开发了虚拟装配工艺规划环境原型系统(VAPPE)，以某型汽车发动机部分零部件的装配工艺规划为应用案例，验证了本文研究的正确性与有效性。
Production assembly process planning is an important stage ofproduction development. With the transform of manufacturing mode andgrowing complexity of productions in function and structure，fast andcorrect assembly process planning becomes to be a more difficult task.Virtual assembly process planning based on interactive virtual assemblysimulation provides a better solution. However, current virtual assemblyprocess planning systems have some demerits, such as incompleteproduction model, inefficient and fallible interactive assembling,imcomplete planning results, etc., which have limited the application ofvirtual assembly process planning technologies.
In order to solve the problems above, assembly semantic isintroduced, and a virtual assembly process planning solution based onsemantic-associated models is brought forward. This solution can makefull use of engineering information contained in assembly semanticmodel, and can support product and assembly tool information expression,efficient and correct interactive virtual assembly simulation, andassembly process information extraction. It makes it possible to do product assembly process planning in3D virtual environment。Mainworks and conclusions of this thesis are listed as follows:
1. A solution for virtual assembly process planning based onsemantic-associated models is proposed, and the detailed implementationprocesses and key technologies are introduced. In this solution, takingassembly semantic model as centre, product assembly information modeland unified assembly tool model are built. It can support interactivevirtual assembly based on semantic reasoning method and assemblyprocess information extraction from virtual assembling operation. Thesolution makes it possible to do assembly process planning throughreal-time interactive assembling simulation in virtual environment.
2. Assembly semantic model is proposed, and semantic-associatedmodels are built. The definition, expression and reasoning methods forassembly semantic model are researched, and an interactive generationmethod for assembly semantic model in CAD environment is proposed.Based on assembly semantic, a multi-leveled product assemblyinformation model and a unified assembly tool model are built, and theirsub-models are detailedly discussed.
3. Real-time collision detection algorithm during interactiveassembling is improved, and interactive assembling methods with bothhands and assembly tools based on semantic reasoning methods areproposed. Real-time collision detection method based on bounding boxhierarchy trees is researched and improved. Dealing rules for interactiveassembly in virtual environment with both hands are built, and based on semantic reasoning methods including recognition, confirmation,navigation, and solving. Logics for grasping, moving, and releasingobjects with both hands are proposed. Interactive assembly process withassembly tools is divided into selection, orientation, driving, and logicsfor these operations in virtual environment are researched.
4. Assembly process planning methods based on assembly semanticand interactive virtual assembly are researched. Basic Assembly Motions,and Standard Assembly Operations are brought forward, and the mappingrelationships between them is built. An assembly operation extractionmethod based on this mapping reletionship is proposed. A method forassembly operation time extraction based on interactive assemblyoperation and standard assembly process is proposed.
5. A prototype named Virtual Assembly Process PlanningEnvironment (VAPPE) based on above researches is developed, andassembly process planning for typical parts of automobile motor is takenas an application to validate the correctness and validity of the researchesin this thesis.
引文
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